Thre most important subjects of this paper are:the analysis of the dynamics of vibration of space manipulators; the design of new con- trol laws for the actuators and the simulation of flight behaviour for ground-based teleoperation. From the control point of view it is very important to know the lowest free vibration eigenfrequencies depending on various parameters like link and end-body masses, centre of gravity position, moment of inertia, decentred joint masses(motors inside links) and relative angle between upper and lower arms (links). Simplified models with exact solutions and more complexmodels with approximated solutions are discussed and compared.The analytical frequency estimations can be computed very quickly and areimplemente...
Based on the barycentric vector and direct path approaches, the kinematics of a multiple arm space r...
The DLR in Germany has set up a testbed for Telerobotic Servicing Opereations in Space, the Servicin...
Space manipulators present several features uncommon to ground-based robots: they are highly flexib...
This doctoral thesis comprises essentially reserach results obtained during a cooperation program be...
Space manipulators are complex systems, composed by robotic arms accommodated on an orbiting platfor...
Structural dynamics behaviour of elastic space manipulators is specifically influenced by the amount...
control This paper discusses performance improvement for a space manipulator termed JEMRMS. Space ma...
This paper aims to show the relevance of flexibility effects in the modeling of space manipulators d...
The autonomous operation of free-flying robots in space requires the manipulation of objects with un...
The autonomous operation of free-flying robots in space requires the manipulation of objects with un...
The dynamics and the control of articulated structures for an in-orbit manipulation is a profitable ...
Space manipulators present several features uncommon to ground-based robots: they are highly flexib...
Space manipulators mounted on a free-floating base are structurally flexible mechanical systems. For...
Operational problems with robots in space relate to several factors. One of the most important facto...
Current industrial and space manipulators are required to achieve higher speeds in a lighter structu...
Based on the barycentric vector and direct path approaches, the kinematics of a multiple arm space r...
The DLR in Germany has set up a testbed for Telerobotic Servicing Opereations in Space, the Servicin...
Space manipulators present several features uncommon to ground-based robots: they are highly flexib...
This doctoral thesis comprises essentially reserach results obtained during a cooperation program be...
Space manipulators are complex systems, composed by robotic arms accommodated on an orbiting platfor...
Structural dynamics behaviour of elastic space manipulators is specifically influenced by the amount...
control This paper discusses performance improvement for a space manipulator termed JEMRMS. Space ma...
This paper aims to show the relevance of flexibility effects in the modeling of space manipulators d...
The autonomous operation of free-flying robots in space requires the manipulation of objects with un...
The autonomous operation of free-flying robots in space requires the manipulation of objects with un...
The dynamics and the control of articulated structures for an in-orbit manipulation is a profitable ...
Space manipulators present several features uncommon to ground-based robots: they are highly flexib...
Space manipulators mounted on a free-floating base are structurally flexible mechanical systems. For...
Operational problems with robots in space relate to several factors. One of the most important facto...
Current industrial and space manipulators are required to achieve higher speeds in a lighter structu...
Based on the barycentric vector and direct path approaches, the kinematics of a multiple arm space r...
The DLR in Germany has set up a testbed for Telerobotic Servicing Opereations in Space, the Servicin...
Space manipulators present several features uncommon to ground-based robots: they are highly flexib...